예제 #1
0
  private void kickBall(PlayerInterface player) {
    // calculate the dot product of the vector pointing to the ball
    // and the player's heading
    Vector2D ToBall = player.Ball().Pos().subtractToCopy(player.Pos());
    double dot = player.Heading().Dot(ToBall.normalizeToCopy());

    // the dot product is used to adjust the shooting force. The more
    // directly the ball is ahead, the more forceful the kick
    double power = Prm.MaxShootingForce * dot;

    // Try to setup a pass
    PlayerInterface receiver = player.Team().getSomeoneElse(player);

    if (receiver != null) {
      Vector2D BallTarget = receiver.Pos().subtractToCopy(player.Ball().Pos());
      //		  BallTarget=AddNoiseToKick(player.Ball().Pos(), BallTarget);
      if (player.isReadyForNextKick()) {
        receiver.receiveMessage(new ReceivePassTelegram());
        player.Kick(BallTarget, Prm.MaxShootingForce);
      }
    } else {
      System.err.println("In RL-kickBall, no receivers?");
      Vector2D KickDirection = new Vector2D(Math.random() - .5d, Math.random() - .5d);
      if (player.isReadyForNextKick()) {
        player.Kick(KickDirection, power);
      } else {
        System.err.println(
            "RL Version ofkickBall was called when agent was not ready for kick, shouldn't happen");
      }
    }

    // change state
    player.GetFSM().changeState(ChaseBall.Instance());
  }
예제 #2
0
 private void stopBall(PlayerInterface player) {
   // This would be a condition where it would be sensible to stop the ball
   // if(player.Ball().Velocity().LengthSq()>Prm.holdingBallSpeed){
   System.out.println("Trying to stop the ball!");
   Vector2D randomSmallVector = new Vector2D(Utilities.RandomClamped(), Utilities.RandomClamped());
   // The illusion of stopping the ball
   if (player.isReadyForNextKick()) {
     player.Ball().setPos(randomSmallVector.add(player.Pos()));
     Vector2D BallTarget = player.Ball().Pos().addToCopy(player.Ball().Velocity());
     player.Kick(BallTarget, Prm.StoppingForce);
   } else {
     System.err.println(
         "RL Version of stop ball was called when agent was not ready for kick, shouldn't happen");
   }
   // change state
   player.GetFSM().changeState(ChaseBall.Instance());
 }